#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "UdpReceive.h"
#include "tmRosNodeHandle.h"

QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private slots:
    void on_btnConnect_clicked();
    void on_btn_send_clicked();
    
    void SlHandleAngle(S_AngleType);

private:
    Ui::MainWindow *ui;
    UdpReceive *mUdpRecAxisP, *mUdpRecAxisV, *mUdpRecAxisR, *mUdpRecSlow, *mUdpRecRepo;
    TmRosNodeHandle mRosNodeHandle;
    S_AngleRosPubType mRosPubData;
};
#endif // MAINWINDOW_H
